密林樹冠下でのリアルタイム意味SLAMによる大規模自律飛行
Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy
LiDARから樹木の幹と地面を検出・モデル化する意味SLAMを構築し、GPSの使えない密林環境でUAVが大規模に自律飛行しながらリアルタイムに意味地図を生成できるようにした。
著者: Xu Liu, Guilherme V. Nardari, Fernando Cladera Ojeda, Yuezhan Tao, Alex Zhou, Thomas Donnelly, Chao Qu, Steven W. Chen, Roseli A. F. Romero, Camillo J. Taylor, Vijay Kumar
分類: cs.RO, cs.AI
原文アブストラクト
Semantic maps represent the environment using a set of semantically meaningful objects. This representation is storage-efficient, less ambiguous, and more informative, thus facilitating large-scale autonomy and the acquisition of actionable information in highly unstructured, GPS-denied environments. In this letter, we propose an integrated system that can perform large-scale autonomous flights and real-time semantic mapping in challenging under-canopy environments. We detect and model tree trunks and ground planes from LiDAR data, which are associated across scans and used to constrain robot poses as well as tree trunk models. The autonomous navigation module utilizes a multi-level planning and mapping framework and computes dynamically feasible trajectories that lead the UAV to build a semantic map of the user-defined region of interest in a computationally and storage efficient manner. A drift-compensation mechanism is designed to minimize the odometry drift using semantic SLAM outputs in real time, while maintaining planner optimality and controller stability. This leads the UAV to execute its mission accurately and safely at scale.
